raisim::MimicConstraint
struct · #include <raisim/constraints/MimicConstraint.hpp>
Internal: a resolved mimic constraint between two one-degree-of-freedom joints.
Public attributes
followerBody
cpp
size_t followerBodyBodies whose parent joints are the follower and the leader.
leaderBody
cpp
size_t leaderBodyfollowerGv
cpp
size_t followerGvGeneralized velocity and coordinate indices of the two joints.
leaderGv
cpp
size_t leaderGvfollowerGc
cpp
size_t followerGcleaderGc
cpp
size_t leaderGcmultiplier
cpp
double multiplieroffset
cpp
double offsetproblem
cpp
size_t problemIndex of this constraint's row in the world's contact problems in this step.